Fixed a warning.

Transform::Identity() is now returning a Transform.

2 files changed, 8 insertions, 3 deletions

diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 285a93c15..98b91e2de 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -573,7 +573,7 @@ QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& oth
   double d = ei_abs(this->dot(other));
   if (d>=1.0)
     return Scalar(0);
-  return Scalar(2) * std::acos(d);
+  return static_cast<Scalar>(2 * std::acos(d));
 }
 
 /** \returns the spherical linear interpolation between the two quaternions
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index b945ea43f..309c1e1fd 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -345,9 +345,14 @@ public:
 
   /** \sa MatrixBase::setIdentity() */
   void setIdentity() { m_matrix.setIdentity(); }
-  static const typename MatrixType::IdentityReturnType Identity()
+
+  /**
+   * \brief Returns an identity transformation.
+   * \todo In the future this function should be returning a Transform expression.
+   */
+  static const Transform Identity()
   {
-    return MatrixType::Identity();
+    return Transform(MatrixType::Identity());
   }
 
   template<typename OtherDerived>